Surgical system with configurable rail-mounted mechanical arms

ABSTRACT

A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/145,418, filed Apr. 9, 2015, which application is incorporated hereinby reference.

The present invention relates to medical instruments, tools, and methodsthat may be incorporated into a robotic system, such as those disclosedin U.S. patent application Ser. No. 14/523,760, filed Oct. 24, 2014,U.S. Provisional Patent Application No. 62/019,816, filed Jul. 1, 2014,U.S. Provisional Patent Application No. 62/037,520, filed Aug. 14, 2014,and U.S. Provisional Patent Application No. 62/057,936, filed Sep. 30,2014, the entire contents of which are incorporated herein by reference.

INCORPORATION BY REFERENCE

All publications and patent applications mentioned in this specificationare herein incorporated by reference in their entirety to the sameextent as if each individual publication or patent application wasspecifically and individually indicated to be incorporated by reference.

FIELD OF THE INVENTION

The field of the present invention relates to a robotics platform thatmay be used in a number of surgical procedures. More particularly, thefield of the invention pertains to robotic platforms that enablerobotically-controlled tools to perform diagnostic and therapeuticsurgical procedures.

BACKGROUND OF THE RELATED ART

Use of robotic technologies presents a number of advantages overtraditional, manual surgery procedures. In addition to other advantages,robotic surgeries often allow for greater precision, control, andaccess. Despite these advantages, however, the pre-existing roboticsplatforms have built-in limitations that are tied to their structuraldesigns and underpinnings. In the absence of a truly flexible system,hospitals and health care practitioners are forced to acquire a varietyof robotic systems in order to robotically perform a variety ofprocedures. The high capital costs, combined with the relativelyspecialization of the systems, have slowed adoption of roboticsplatforms for surgery.

Accordingly, there is a need for a robotics platform that isconfigurable for a number of procedures.

BRIEF SUMMARY OF THE INVENTION

In general, the present invention provides a medical device thatcomprises a rail having a rounded path, a carriage configured totranslate along the rail, the carriage being operatively coupled to therail, a robotic arm operatively coupled to the carriage, and ahorizontal platform proximate to the rail, wherein the robotic arms areconfigured to perform medical procedures on a patient on the platform.In one aspect, the rounded path is U-shaped. In one aspect, the U-shapedpath comprises of a first leg and a second leg, wherein the first leg islonger than the second leg. In another aspect, the rail is configuredaround a central base. In one aspect, the central base is shaped like acolumn.

In another aspect, a horizontal platform is operatively coupled to thetop of the base. In one aspect, the rail is disposed below the platform.In one aspect, the rail is around the platform. In one aspect, the armis configured to be angled over platform.

In another aspect, the platform is a surgical bed, configured to supportthe weight of a patient. In one aspect, the surgical bed comprises afirst part and a second part, wherein the second part is configured toarticulate relative to the first part.

In another aspect, the rail is configured around a horizontal platform.In one aspect, the platform is a surgical bed, configured to support theweight of a patient.

In another aspect, the rounded path is circular. In one aspect, the railis disposed below the platform. In one aspect, the rail is around theplatform.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described, by way of example, and with referenceto the accompanying diagrammatic drawings, in which:

FIG. 1 illustrates a surgical bed with an oval track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention;

FIG. 2 illustrates a surgical bed with a U-shaped track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention;

FIG. 3 illustrates an alternative robotics platform to system 201 fromFIG. 2;

FIG. 4 illustrates a surgical bed with a rounded track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention;

FIG. 5A illustrates a surgical bed with a rounded track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention;

FIG. 5B illustrates the surgical bed with a rounded track from FIG. 5A,consistent with an embodiment of the present invention;

FIG. 5C illustrates the surgical bed with a rounded track from FIGS. 5A,5B, consistent with an embodiment of the present invention;

FIG. 5D illustrates several views of carriages for mechanical arms usedin system 501 from FIGS. 5A, 5B;

FIG. 5E illustrates the surgical bed with a rounded track from FIG. 5A,consistent with an embodiment of the present invention;

FIGS. 6A and 6B illustrate a surgical bed with a rounded track forrobotic arms along the edge of the bed, consistent with an embodiment ofthe present invention;

FIG. 7A illustrates a surgical bed with a rounded track for robotic armsunderneath the edge of the bed, consistent with an embodiment of thepresent invention;

FIG. 7B illustrates the underside of the surgical bed with a roundedtrack from FIG. 7A;

FIG. 7C illustrates the surgical bed with a rounded track from FIGS. 7A,7B;

FIG. 7D illustrates the surgical bed with a rounded track from FIGS. 7A,7B, 7C;

FIG. 7E illustrates the surgical bed with a rounded track from FIG. 7C;

FIG. 7F illustrates the surgical bed with a rounded track from FIG. 7E;

FIG. 7G illustrates the surgical bed with a rounded track from FIGS.7A-7F; and

FIGS. 8A and 8B illustrate a surgical bed with a rounded track forrobotic arms underneath the edge of the bed, consistent with anembodiment of the present invention.

DETAILED DESCRIPTION OF THE DRAWINGS

Although certain preferred embodiments and examples are disclosed below,inventive subject matter extends beyond the specifically disclosedembodiments to other alternative embodiments and/or uses, and tomodifications and equivalents thereof. Thus, the scope of the claimsappended hereto is not limited by any of the particular embodimentsdescribed below. For example, in any method or process disclosed herein,the acts or operations of the method or process may be performed in anysuitable sequence and are not necessarily limited to any particulardisclosed sequence. Various operations may be described as multiplediscrete operations in turn, in a manner that may be helpful inunderstanding certain embodiments; however, the order of descriptionshould not be construed to imply that these operations are orderdependent. Additionally, the structures, systems, and/or devicesdescribed herein may be embodied as integrated components or as separatecomponents.

In clinical applications, the design of the base of the roboticsplatform often constrains the types of procedures that may be performedby the system. For example, in a system where robotic appendages areonly available around the abdomen, urology procedures are precluded frombeing performed. Likewise, robotic arms below the abdomen may not beuseful for laparoscopic procedures. Accordingly, the present inventionprovides a flexible design such that robotic arms may be delivered tomultiple access points in a patient around a surgical bed.

FIG. 1 illustrates a surgical bed with an oval track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention. As shown in the isometric view 100 of the robotic system 101,the system 101 comprises of a surgical bed 102, a rail 103 formechanical arms 104, a support stand 105, and a system base 106. Thesurgical bed allows for a hinge 107 such that a portion 108 of surgicalbed 102 may be declined at a different angle from the rest of the bed.This may be desirable for certain operations, such as when performing aprocedure that requires access a patient's lower abdomen, such asureteroscopy or hysteroscopy.

Encircling the surgical bed 102, the rail 103 provides a structure toslidingly translate the mechanical arms 104 to a desired location aroundthe surgical bed 102. The rail 103, which may be referred to as a“track”, and the mechanical arms 104 may be slidingly translated alongit in order to facilitate access for the arms. The rail 103 alsoprovides allows for the conveyance and reception of power, controls,fluidics, aspiration to the mechanical arms 104. The rail 103 may befully circular and surround all sides of the surgical bed 102.

The mechanical arms 104 may be operatively coupled to the rail 103. Themechanical arms may also be robotic. The translation of the mechanicalarms 104 may be actuated either manually or robotically. The mechanicalarms 104 may be coupled independently to the rail 103 or in groups via amechanical carriage that may slide around the rail 103. In addition toproviding structural support to the mechanical arms 104, the carriagemay be used to convey and receive power, controls, fluidics, andaspiration to and from the arms 104 to the rail 103.

In combination or individually, the support stand 105 and the systembase 106 may be used to house electronics, fluidics, pneumatics, andaspiration. The electronics may be used from control, localization,navigation of the arms 104. Thus, as a robotically-driven platform,system 101 provides for a comprehensive surgical bed and tool solutionthat may be used to perform any number of procedures around a patient.

FIG. 2 illustrates a surgical bed with a U-shaped track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention. As shown in the isometric view 200 of the robotic system 201,the system 201 comprises of a surgical bed 202, a rail 203 formechanical arms 204, a support stand 205, and a system base 206. Like insystem 101, the surgical bed 202 allows for a hinge 207 such that aportion 208 of surgical bed 202 may be declined at a different anglefrom the rest of the bed 202. As discussed earlier, this may bedesirable for certain operations, such as when performing a procedurethat requires access a patient's lower abdomen, such as ureteroscopy,hysteroscopy, or colonoscopy.

Running along the surgical bed 202, the rail 203 provides a structure toslidingly translate the mechanical arms 204 to a desired location aroundthe surgical bed 202. Unlike rail 103, rail 203 uses a U-shape thatenhances access the surgical bed 202. This may provide advantages whenposition the patient and accessing operative sites on a patient's lowerabdomen. The longer leg of the rail 203 allows for the mechanical armsto be aligned to convey a medical instrument into the patient by meansof a “virtual rail” such as one discussed in the aforementioned patentapplications. As before, the rail 203 may be referred to as a “track”,and the mechanical arms 204 may be slidingly translated along it inorder to facilitate access for the arms. The rail 203 also providesallows for the conveyance and reception of power, controls, fluidics,aspiration to the mechanical arms 204.

In combination or individually, the support stand 205 and the systembase 206 may be used to house electronics, fluidics, pneumatics, andaspiration. The electronics may be used from control, localization,navigation of the arms 204. Thus, as a robotically-driven platform,system 201 provides for an improved, comprehensive surgical bed and toolsolution that may be used to perform any number of procedures around apatient.

As deployed, the mechanical arms 104 from system 101 and mechanical arms204 and system 201 are positioned to perform endolumenal procedures toaccess the access points in the lower abdomen (e.g., urology,ureteroscopy, hysteroscopy, or colonoscopy) and upper abdomen (e.g.,bronchoscopy, gastro-intestinal).

FIG. 3 illustrates an alternative robotics platform to system 201 fromFIG. 2. As shown in isometric view 300, system 301 incorporates all thetechnologies disclosed with respect to system 201 with the additionalvertical translation apparatus 302 that enables control over thevertical height of the rail 303. System 301 thus allows for verticaltranslation of the rail 303 relative to the support stand 304.

FIG. 4 illustrates a surgical bed with a rounded track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention. As shown in the isometric view 400 of the robotic system 401,the system 401 comprises of a surgical bed 402, a rail 403 (or “track”)for mechanical arms 404, a support stand 405, and a system base 406. Thesurgical bed 402 may be configured to translate horizontally to positionpatient 407 relative to mechanical arms 404.

Encircling the surgical bed 402, the rail 403 provides a structure toslidingly translate the mechanical arms 404 to a desired location aroundthe surgical bed 402. The rail 403, which may be referred to as a“track”, and the mechanical arms 404 may be slidingly translated alongit in order to facilitate access for the arms. The rail 403 alsoprovides allows for the conveyance and reception of power, controls,fluidics, aspiration to the mechanical arms 404.

The mechanical arms 404 may be operatively coupled to the rail 403. Themechanical arms 404 may also be robotic. The translation of themechanical arms 404 may be actuated either manually or robotically. Themechanical arms 404 may be coupled independently to the rail 403 or ingroups via a mechanical carriage that may slide around the rail 403. Inaddition to providing structural support to the mechanical arms 404, thecarriage may be used to convey and receive power, controls, fluidics,and aspiration to and from the arms 404 to the rail 403. The ability totranslate the arms 404 and translate the bed 402 allows for nearlyunlimited access to different portions of the anatomy of patient 407.

In combination or individually, the support stand 405 and the systembase 406 may be used to house electronics, fluidics, pneumatics, andaspiration. The electronics may be used from control, localization,navigation of the arms 404. Thus, as a robotically-driven platform,system 401 provides for a comprehensive surgical bed and tool solutionthat may be used to perform any number of procedures around a patient.The support stand 405 may also translate vertically, allowing for easieraccess to the patient 407 and operative site.

As deployed in view 400, mechanical arms 404 may be positioned to accessthe abdomen of patient 407 for laparoscopic procedures.

FIG. 5A illustrates a surgical bed with a rounded track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention. As shown in the isometric view 500 of the robotic system 501,the system 501 comprises of a surgical bed 502, a rail 503 (or “track”)for mechanical arms 504, 505, 506, a support stand 507, and a systembase 508. The surgical bed 502 may be configured to translatehorizontally to position a patient relative to mechanical arms 504, 505,506.

Encircling the surgical bed 502, the rail 503 provides a structure toslidingly translate the mechanical arms 504, 505, 506 to a desiredlocation around the surgical bed 502. The rail 503, which may bereferred to as a “track”, and the mechanical arms 504, 505, 506 may beslidingly translated along it in order to facilitate access for the arms504, 505, 506. The rail 503 also provides allows for the conveyance andreception of power, controls, fluidics, aspiration to the mechanicalarms 504, 505, 506.

The mechanical arms 504, 505, 506 may be operatively coupled to the rail503. The mechanical arms 504, 505, 506 may also be robotic. Thetranslation of the mechanical arms 504, 505, 506 may be actuated eithermanually or robotically. The mechanical arms 504, 505, 506 may becoupled independently to the rail 503 or individually or in groups viamechanical carriages that may slide around the rail 503. In addition toproviding structural support to the mechanical arms 504, 505, 506 acarriage may be used to convey and receive power, controls, fluidics,and aspiration to and from the arms 504, 505, 506 to the rail 503. Theability to translate the arms 504, 505, 506 and translate the bed 502allows for nearly unlimited access to different portions of the anatomyof a patient.

In combination or individually, the support stand 507 and the systembase 508 may be used to house electronics, fluidics, pneumatics, andaspiration. The electronics may be used from control, localization,navigation of the arms 504, 505, 506. Thus, as a robotically-drivenplatform, system 501 provides for a comprehensive surgical bed and toolsolution that may be used to perform any number of procedures around apatient. The support stand 507 may also translate vertically, allowingfor easier access to the patient and operative site.

As deployed in view 500, mechanical arms 504, 505, 506 may be positionedto access the abdomen of patient for laparoscopic procedures, while thecarriages on the other side of rail 503 may be positioned to holdmechanical arms to create a virtual rail for access points in the lowerabdomen (e.g., urology, ureteroscopy, or hysteroscopy).

FIG. 5B illustrates the surgical bed with a rounded track from FIG. 5A,consistent with an embodiment of the present invention. Reverseisometric view 509 provides a different perspective of the roboticsystem 501, surgical bed 502, rail 503 (or “track”) for mechanical arms504, 505, 506 a support stand 507, and a system base 508.

FIG. 5C illustrates the surgical bed with a rounded track from FIGS. 5A,5B, consistent with an embodiment of the present invention. Rear view510 provides a different perspective of the robotic system 501, surgicalbed 502, rail 503 (or “track”) for mechanical arms 504, 505, 506,support stand 507, and a system base 508.

FIG. 5D illustrates several views of carriages for mechanical arms usedin system 501 from FIGS. 5A, 5B, 5C, consistent with an embodiment ofthe present invention. Side views 511, 512, 513 provide differentperspectives on a mechanically-driven carriage in system 501.

FIG. 5E illustrates the surgical bed with a rounded track from FIG. 5A,consistent with an embodiment of the present invention. View 514provides a different perspective of the robotic system 501, surgical bed502, rail 503 (or “track”), support stand 507, and system base 508,absent mechanical arms 504, 505, 506.

FIG. 6A illustrates a surgical bed with a rounded track for robotic armsalong the edge of the bed, consistent with an embodiment of the presentinvention. As shown in the view 600, the system 601 comprises of asurgical bed 602, a rail 603 (or “track”) for mechanical arms 604, 605.The surgical bed 602 may be configured to translate horizontally toposition a patient relative to mechanical arms 604, 605. The surgicalbed 602 allows for a hinge 606 such that a portion 607 of surgical bed602 may be declined at a different angle from the rest of the bed 602.As discussed earlier, this may be desirable for certain operations, suchas when performing a procedure that requires access a patient's lowerabdomen, such as ureteroscopy, hysteroscopy, or colonoscopy.

Underneath the surgical bed 602, the rail 603 provides a structure toslidingly translate the mechanical arms 604, 605 to a desired locationaround the surgical bed 602. The rail 603, which may be referred to as a“track”, and the mechanical arms 604, 605 may be slidingly translatedalong it in order to facilitate access for the arms 604, 605. The rail603 also provides allows for the conveyance and reception of power,controls, fluidics, aspiration to the mechanical arms 604, 605. As shownin FIG. 6A, there may be a shorter leg and longer leg portion of theU-shape rail 603. In some embodiments, the rail 603 may be fullycircular, rather than a U-shaped.

The mechanical arms 604, 605 may be operatively coupled to the rail 603.The mechanical arms 604, 605 may also be robotic. The translation of themechanical arms 604, 605 may be actuated either manually or robotically.The mechanical arms 604, 605 may be coupled independently to the rail603 or individually or in groups (as shown) via a mechanical carriage608 that may slide around the rail 603. In addition to providingstructural support to the mechanical arms 604, 605, the carriage 606 maybe used to convey and receive power, controls, fluidics, and aspirationto and from the arms 604, 605 to the rail 603. The ability to translatethe arms 604, 605 and translate the bed 602 allows for nearly unlimitedaccess to different portions of the anatomy of a patient.

Not shown, system 601 may also incorporate a support stand and thesystem base to house electronics, fluidics, pneumatics, and aspiration.The electronics may be used from control, localization, navigation ofthe arms 604, 605. Thus, as a robotically-driven platform, system 601provides for a comprehensive surgical bed and tool solution that may beused to perform any number of procedures around a patient. The supportstand may also translate vertically, allowing for easier access to thepatient and operative site. The support stand may also support verticaltranslation of the rail 603 in order to facilitate access to particularanatomical access points.

As deployed in view 600, mechanical arms 604, 605 on carriage 608 may bepositioned to access the abdomen of patient for procedures, such aslaparoscopy or endoscopy, while a carriage 609 on the other side of rail603 may be positioned to hold additional mechanical arms.

FIG. 6B illustrates the surgical bed with a rounded track from FIG. 6A.As shown in the view 610, mechanical arms 604, 605 on carriage 608 maybe slidingly translated to the long side of the rail 603. View 610 alsoprovides a view of a support base. As deployed in view 610, mechanicalarms 604, 605 on carriage 608 may be positioned to form a virtual railfor access to the anatomical lumens in the lower abdomen for variousprocedures, such as ureteroscopy, hysteroscopy, or colonoscopy. Tofacilitate access surgical bed 602 has been slidingly translatedforwards from the rail 603.

FIG. 7A illustrates a surgical bed with a rounded track for robotic armsunderneath the edge of the bed, consistent with an embodiment of thepresent invention. As shown in the view 700, the system 701 comprises ofa surgical bed 702, a rail 703 (or “track”) for mechanical arms 704,705, 706, 708. The surgical bed 702 may be configured to translatehorizontally to position patient 709 relative to mechanical arms 704,705, 706, 708. The surgical bed 702 may include a hinge such that thelower portion of surgical bed 702 may be declined at a different anglefrom the rest of the bed 702. As discussed earlier, this may bedesirable for certain operations, such as when performing a procedurethat requires access a patient's lower abdomen, such as ureteroscopy,hysteroscopy, or colonoscopy.

Underneath the surgical bed 702, the rail 703 provides a structure toslidingly translate the mechanical arms 704, 705, 706, 708 to a desiredlocation around the surgical bed 702. The rail 703, which may bereferred to as a “track” and the mechanical arms 704, 705 may beslidingly translated along it in order to facilitate access for the arms704, 705, 706, 708. The rail 703 also provides allows for the conveyanceand reception of power, controls, fluidics, aspiration to the mechanicalarms 704, 705, 706, 708.

The mechanical arms 704, 705, 706, 708 may be operatively coupled to therail 703. The mechanical arms 704, 705, 706, 708 may also be robotic.The translation of the mechanical arms 704, 705, 706, 708 may beactuated either manually or robotically. The mechanical arms 704, 705,706, 708 may be coupled independently to the rail 703 or individually orin groups via a mechanical carriage that may slide around the rail 703.In addition to providing structural support to the mechanical arms 704,705, 706, 708, the carriage may be used to convey and receive power,controls, fluidics, and aspiration to and from the arms 704, 705, 706,708 to the rail 703. The ability to translate the arms 704, 705, 706,708 and translate the bed 702 allows for nearly unlimited access todifferent portions of the anatomy of a patient.

System 701 may also incorporate support stand 710 and system base 711 tohouse electronics, fluidics, pneumatics, and aspiration. The electronicsmay be used from control, localization, navigation of the arms 704, 705,706, 708. Thus, as a robotically-driven platform, system 701 providesfor a comprehensive surgical bed and tool solution that may be used toperform any number of procedures around a patient. The rail 703 onsupport stand 710 may also translate vertically, allowing for easieraccess to the patient and operative site. The support stand may alsotelescope.

As deployed in view 700, mechanical arms 704, 705, 706, 708 may bepositioned to access the abdomen of patient 709 for laparoscopicprocedures, using a variety of rigid or semi-rigid laparoscopicinstruments.

FIG. 7B illustrates the underside of the surgical bed with a roundedtrack from FIG. 7A. As shown in the view 712, mechanical arms 704, 705,706, 708 may be coupled to the rail 703 using carriages 713 and 714,which may be slidingly translated along rail 703. Carriages 713 and 714may be oriented at various angles from rail 703 to provide an additionalaccess to the patient 709. View 712 also provides a view of a supportbase 709 which shows structures to vertically translate rail 703 and bed702.

FIG. 7C illustrates the surgical bed with a rounded track from FIGS. 7A,7B. As shown in side view 715, carriages 713 and 714 may be positionedalong rail 703 such that mechanical arms 704, 705, 706, 708 may bearranged to form a virtual rail to guide an endoscopic device 716 intoan anatomical lumen in the lower abdomen of patient 709 for a proceduresuch as ureteroscopy, hysteroscopy, or colonoscopy.

FIG. 7D illustrates the surgical bed with a rounded track from FIGS. 7A,7B, 7C. Top view 717 provides a different perspective of the positioningof mechanical arms 704, 705, 706, 708 to form a virtual rail to guide anendoscopic device 716 into an anatomical lumen in the lower abdomen ofpatient 709 for a procedure such as ureteroscopy, hysteroscopy, orcolonoscopy.

FIG. 7E illustrates the surgical bed with a rounded track from FIG. 7C.Isometric view 718 provides an alternative positioning of mechanicalarms 704, 705, 706, 708 to form a virtual rail to guide an endoscopicdevice 714 into an anatomical lumen in the lower abdomen of patient 709for a procedure such as ureteroscopy, hysteroscopy, or colonoscopy. Inview 717, the carriages 713 and 714 may be oriented below rail 703 toposition mechanical arms 704, 705, 706, 708 such that the virtual railis positioned lower than shown in FIGS. 7C and 7D.

FIG. 7F illustrates the surgical bed with a rounded track from FIG. 7E.Side view 719 provides a different perspective of the positioning ofcarriages 713 and 714 such that mechanical arms 704, 705, 706, 708 forma virtual rail to guide an endoscopic device 716 into an anatomicallumen in the lower abdomen of patient 709 for a procedure such asureteroscopy, hysteroscopy, or colonoscopy.

FIG. 7G illustrates the surgical bed with a rounded track from FIGS.7A-7F. View 719 shows stowage of mechanical arms 704, 705, 706, 708through positioning of carriages 713 and 714 together along rail 703under surgical bed 702.

FIGS. 8A and 8B illustrate a surgical bed with a rounded track forrobotic arms underneath the edge of the bed, consistent with anembodiment of the present invention. As shown in the view 800, thesystem 801 comprises of a surgical bed 802, a rail 803 (or “track”) formechanical arms, such as 804, 805. The surgical bed 802 may beconfigured to translate horizontally to position a patient relative tothe mechanical arms. As shown in view 807 from FIG. 8B, the surgical bed802 may tilted on the support stand 806 to improve physician access tothe patient.

Underneath the surgical bed 802, the rail 803 provides a structure toslidingly translate the mechanical arms 804, 805 to a desired locationaround the surgical bed 802. The rail 803, which may be referred to as a“track”, and the mechanical arms 804, 805 may be slidingly translatedalong it in order to facilitate access for the arms. The rail 803 alsoprovides allows for the conveyance and reception of power, controls,fluidics, aspiration to the mechanical arms.

The mechanical arms may be operatively coupled to the rail 803. Themechanical arms may also be robotic. The translation of the mechanicalarms 804, 805 may be actuated either manually or robotically. Themechanical arms 804, 805 may be coupled independently to the rail 803 orindividually or in groups via a mechanical carriage that may slidearound the rail 803. In addition to providing structural support to themechanical arms 804, 805 the carriage may be used to convey and receivepower, controls, fluidics, aspiration to and from the arms 804, 805 tothe support base 806. The ability to translate the arms 804, 805 andtranslate the bed 802 allows for nearly unlimited access to differentportions of the anatomy of a patient.

System 801 may also incorporate support stand 806 to house electronics,fluidics, pneumatics, and aspiration. The electronics may be used fromcontrol, localization, navigation of the arms 804, 805. Thus, as arobotically-driven platform, system 801 provides for a comprehensivesurgical bed and tool solution that may be used to perform any number ofprocedures around a patient. The rail 803 on support stand 806 may alsotranslate vertically, allowing for easier access to the patient andoperative site. The support stand may also telescope.

As deployed in view 800, mechanical arms 804, 805 may be positioned toaccess the abdomen of a patient for laparoscopic procedures, using avariety of rigid or semi-rigid laparoscopic instruments.

The aforementioned embodiments of the present invention may be designedto interface with robotics instrument device manipulators, tools,hardware, and software such as those disclosed in the aforementionedpatent applications that are incorporated by reference. For example, theembodiments in this specification may be configured to be driven by aninstrument drive mechanism or an instrument device manipulator that isattached to the distal end of a robotic arm through a sterile interface,such as a drape. As part of a larger robotics system, robotic controlsignals may be communicated from a remotely-located user interface, downthe robotic arm, and to the instrument device manipulator to control theinstrument or tool.

For purposes of comparing various embodiments, certain aspects andadvantages of these embodiments are described. Not necessarily all suchaspects or advantages are achieved by any particular embodiment. Thus,for example, various embodiments may be carried out in a manner thatachieves or optimizes one advantage or group of advantages as taughtherein without necessarily achieving other aspects or advantages as mayalso be taught or suggested herein.

Elements or components shown with any embodiment herein are exemplaryfor the specific embodiment and may be used on or in combination withother embodiments disclosed herein. While the invention is susceptibleto various modifications and alternative forms, specific examplesthereof have been shown in the drawings and are herein described indetail. The invention is not limited, however, to the particular formsor methods disclosed, but to the contrary, covers all modifications,equivalents and alternatives thereof.

1-30. (canceled)
 31. A medical system comprising: a base; a standcoupled to the base; a bed supported by the stand; a first rail portionextending along a length of the bed; and at least one arm attached tothe first rail portion, wherein the at least one arm is configured to bestowed beneath the bed supported by the stand and raised to perform amedical procedure.
 32. The medical system of claim 31, furthercomprising a second rail portion extending along a length of the bed.33. The medical system of claim 32, further comprising at least one armattached to the second rail portion.
 34. The medical system of claim 31,wherein the bed is configured to translate horizontally relative to theat least one arm.
 35. The medical system of claim 31, wherein the bedcomprises a hinge such that a lower portion of the bed can be declinedat a different angle from remaining portions of the bed.
 36. The medicalsystem of claim 31, wherein the at least one arm is capable of slidinglytranslating along the first rail portion.
 37. The medical system ofclaim 31, wherein the at least one arm attached to the first railportion comprises two arms forming a virtual rail to guide an endoscopicdevice.
 38. The medical system of claim 31, wherein the first railportion is capable of vertical translation.
 39. The medical system ofclaim 31, further comprising a second rail portion extending along alength of the bed and at least one arm attached to the second railportion, wherein the at least one arm attached to the first rail portionand the at least one arm attached to the second rail portion extendupwardly along opposing sides of the bed.
 40. The medical system ofclaim 31, further comprising a second rail portion extending along alength of the bed, wherein at least two arms are coupled to the firstrail portion and at least two arms are coupled to the second railportion.
 41. A medical system comprising: a base; a stand coupled to thebase; a bed supported by the stand; a first rail portion extending alonga length of the bed; a second rail portion extending along a length ofthe bed; at least one arm attached to the first rail portion; and atleast one arm attached to the second rail portion, wherein the at leastone arm attached to the first rail portion and the at least one armattached to the second rail portion are configured to be stowed beneaththe bed supported by the stand and raised to perform a medicalprocedures.
 42. The medical system of claim 41, wherein the at least onearm attached to the first rail portion and the at least one arm attachedto the second rail portion are each capable of robotic control.
 43. Themedical system of claim 42, wherein the at least one arm attached to thefirst rail portion and the at least one arm attached to the second railportion are capable of both manual and robotic control.
 44. The medicalsystem of claim 41, wherein the first rail portion and the second railportion are capable of vertical translation.
 45. The medical system ofclaim 41, wherein the at least one arm attached to the first portioncomprises a pair of arms that form a virtual rail to guide an endoscopicdevice into an anatomical lumen.
 46. The medical system of claim 45,wherein the endoscopic device is a tool used for ureteroscopy,hysteroscopy or colonoscopy.
 47. The medical system of claim 41, whereinthe bed comprises a hinge such that a lower portion of the bed can bedeclined at a different angle from remaining portions of the bed. 48.The medical system of claim 41, wherein the at least one arm attached tothe first rail portion is coupled to a carriage that that translatesalong the first rail portion.
 49. The medical system of claim 41,wherein the at least one arm attached to the first rail portion and theat least one arm attached to the second rail portion are capable ofextending upwardly along opposing sides of the bed.
 50. The medicalsystem of claim 41, wherein the at least one arm attached to the firstrail portion comprises at least two arms, wherein the at least one armattached to the second rail portion comprises at least two arms suchthat there are at least four arms extending from the bed, wherein the atleast four arms are capable of manual and robotic control.